Direct Output Halt

The Direct Output Halt is one of the four types of RMC Halts. Use the Direct Output Halt to halt the axis, put it in Direct Output, and turn off the Enable Output.

When a Direct Out Halt occurs, it takes the following steps:

It puts the axis in Direct Output, turns on the Direct Output status bit, and ramps down the Control Output to the Output Bias using the Open Loop Halt Ramp parameter.
When the Control Output reaches the Output Bias, this halt turns off the Enable Output.
The Halted status bit is set and the axis is said to be in the halted state.
If the axis is part of a Halt Group, it starts a Direct Output Halt on all axes in the group.

Tip:
The Halts do more than just stop the axis. For example, the Direct Output Halt will turn off the Enable Output as well. If you simply wish to stop the motion in open loop control, use the Stop (Open Loop) (22) or Open Loop Rate (10) command. If you wish to stop the motion in closed loop control, use the Stop (Closed Loop) (6) command instead.

Triggering a Direct Output Halt

A Direct Output Halt can be triggered in two ways:

By issuing the Direct Output Halt (3) command.
Via Auto Stops.

After a Halt has Occurred

If the halt was caused by an Auto Stop, you should first make sure the error condition that caused it has been resolved before continuing. Once it has been fixed, you can clear the Halted status bit by issuing the Clear Faults (4) command. Issuing a valid motion command will also clear the Halted status bit.

Why Bother?

This halt is useful when you want to set the Control Output to zero and turn off the Enable Output because of a potentially dangerous error. The Open Loop Halt Ramp parameter is used to avoid an abrupt (and potentially damaging) stop. If you wish to halt the axis but still have closed loop control over it, use the Closed Loop Halt.

The Auto Stops can be set up to cause this halt when an error bit turns on.